LCC–10 Controller

LCC-10 Controller Specification and Features

Description Brushless & Servo motor controller/driver

Operating Modes Position, Velocity, Torque, Homing, Learned Position

Filter Algorithm Position – PID + Velocity & Acceleration Feed-Forward Torque – PI

Homing Methods Physical limit, Index

Learned Positions Stores 200 positions

Max Loop Rate 1 milliseconds (1 KHz)

Trajectory Generator Trapezoidal

Position Feedback Incremental Encoder, up to 2 Million counts per second

Output PWM motor drive, 2A RMS, 4A peak

PWM Frequency 39 KHz

Encoder Input Single-ended or Differential

Encoder Supply Voltage 5 VDC

General Purpose I/O 4 Digital Inputs and Outputs (TTL)

Analog I/O 1 Analog Input (0-5V) 1 Analog Output (0-10V) for Hardware v1.1 and higher (10-bit DAC for LCC-10, 16-bit DAC for LCC-11)

Communication Interface RS232 and CAN interface

Supply Voltage 24 - 48V (*)

Motor Voltage 24 - 48V

Dimensions Approximately 4.0” Long by 3.3” Wide by 1.1” Thick

Weight Approximately 1 lb.

Safety Polarity Inversion protection, over-current protection (I2T), current output limiter

Controller Modes Stand-Alone or Slave

Memory 16 Kb NVM, 100 Registers

Phasing Auto-phasing or Manual phasing for brushless motors

Communication RS232 (Baud rate 115200Bd), CAN (CiA 301, CiA 305, CiA 402)

(*) The power supply must be able to stabilize the back EMF of long stroke multipole actuators.

A power supply capacitor of at least 6800µF/63 V is required.

Pin Out

Actuator Interface

Pin Function

1 A+

2 Z+

3 B+

4 +5V

5 +5V

6 +5V

7 Not Connected

8 Not Connected

9 A-

10 Z-

11 B-

12 Ground

13 Ground

14 Not Connected

15 Not Connected

Communication 1 (Right)

Pin Function

1 CAN High

2 CAN Low

3 Not Connected

4 RS-232 Transmission

5 Ground

6 Not Connected

Communication 2 (Left)

Pin Function

1 CAN High

2 CAN Low

3 RS-232 Reception

4 RS-232 Transmission

5 Ground

6 Not Connected

Power

Pin Function

1 Ground

2 +24/48 V

3 U (motor)

4 V (motor)

5 W (motor)

6 Not Connected

I/O

Pin Function

1 Not Connected

2 Not Connected

3 Digital Input 2

4 Digital Input 0

5 Ground

6 Analog Output

7 Not Connected

8 Digital Output 2

9 Digital Output 0

10 Not Connected

11 Not Connected

12 Digital Input 3

13 Digital Input 1

14 Ground

15 Not Connected

16 Not Connected

17 Digital Output 3

18 Digital Output 1

19 +5V

20 +5V

21 +5V

22 +5V

23 Ground

24 Analog Input

25 Not Connected

26 Not Connected

LCC-10 dimensions

Connecting an Actuator

MultiPole Actuator

SinglePole Actuator

Connecting Communication

Serial Communication using RS232 kit

The RS232 kit contains:

1. Serial port connector (Sub D 9 pins on one side and the RJ25 socket on the other side)

2. RJ25 cable (3 meter long, standard RJ cable, 1 on 1, with 6 wires)

Connecting Multi Axis Acces Using Daisy Chain kit + RS232 kit

The Daisy Chain Kit contains:

1. Daisy Chain Splitter (containing 3 x RJ25 socket)

2. 2 x RJ25 cable (Gray, 30 centimeter long , standard RJ cable, 1 on 1, with 6 wires)

3. 1 x RJ14 chain link cable (Black, 20 centimeter long, two wires crossed, 4 wires )

More RJ14 chain link cables to expand to 3, 4 or more controllers in the daisy chain can be ordered

seperatly. The RS232 kit is not included in the Daisy Chain kit.